CN101579225B - Electric bending operation device and medical treatment system including the same - Google Patents
Electric bending operation device and medical treatment system including the same Download PDFInfo
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- CN101579225B CN101579225B CN2009101408163A CN200910140816A CN101579225B CN 101579225 B CN101579225 B CN 101579225B CN 2009101408163 A CN2009101408163 A CN 2009101408163A CN 200910140816 A CN200910140816 A CN 200910140816A CN 101579225 B CN101579225 B CN 101579225B
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- insertion section
- bending
- section
- rotating cylinder
- operating means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
Abstract
An electric bending operation device can be mounted to an insertion portion of a medical instrument for observation including an electric bending portion. The electric bending operation device includes: an insertion portion mounting mechanism; a rotation mechanism; an insertion portion operation section; and a support column. The insertion portion mounting mechanism includes a pressing portion that is provided integrally with a rotary cylinder through which the insertion portion is passed and presses and holds the insertion portion. Switching can be performed between a state where the pressingportion presses the insertion portion and the rotary cylinder is integral with the insertion portion and a state where the insertion portion is advanced or retracted with respect to the rotary cylind er. The rotation mechanism is provided in the insertion portion mounting mechanism. The rotation mechanism rotates the rotary cylinder to rotate the insertion portion around an axis thereof when the rotary cylinder is integral with the insertion portion. The insertion portion operation section includes a bending portion operation section and a twisting operation portion. The bending portion operation section performs bending operation of the electric bending portion provided in the insertion portion. The twisting operation portion rotates the rotary cylinder to rotate the insertion portion. The support column integrally connects the insertion portion operation section and the insertion portion mounting mechanism.
Description
Technical field
The present invention relates to a kind of electrical bending operating means with bending section operating portion, this bending section operating portion carries out bending operation to being located to observe with the electrical bending portion on the insertion section of medical apparatus and instruments.
Background technology
In recent years, using has following medical endoscope: thus through elongated insertion section being inserted in the body intravital affected part etc. is observed, and as required and use is run through the treatment instrument that is inserted in the treatment instrument passage and carries out various metacheirisises.
In endoscope; In order to realize the raising of the insertion property that insert towards zigzag position the insertion section; And in order to make the viewing optical system that is located at leading section etc. towards desired direction, for example can be in the front setting of insertion section towards crooked bending sections such as left and right directions up and down.Usually, the crooked knob that is located on the operating portion is rotated operation through the operation technique person, crooked thereby the angle operating line is pulled bending section.That is, endoscope has and is used for manually operated bending mechanism.
With respect to this, in No. 3144559 communiques of japanese, electric bending endoscope device has been shown.In this electric bending endoscope device, through the for example stick that is located at the crooked indicating member of conduct on the operating portion is toppled over operation, make crooked with motor by driving and the traction angle operating line, thereby bending section is towards the direction of operating bending of stick.
And; In the open 2007-0100201A1 of United States Patent (USP), following endoscopic system has been shown: the operation technique person can easily carry out being run through being inserted in various functions that treatment instrument had in the treatment instrument for endoscope passage or the various function operations that endoscope had under the state of the insertion section of controlling endoscope.In this endoscopic system; Utilization is controlled the hands of the operating portion of endoscope and is operated, utilizes the hands of controlling the insertion section that this insertion section is operated to crooked knob; In addition, can also operate the various feature operations of carrying out endoscope and treatment instrument to the operation indicating device.
And then; In the operation indicating device of the open 2007-0100201A1 of United States Patent (USP); Through the stick of No. 3144559 communiques of Japan Patent is set; The operation technique person operates the operation indicating device, thereby can carry out the various functions of endoscope and the various function operations of treatment instrument, and can carry out the bending operation of bending section.That is, can consider to operate indicating device and electric bending endoscope device combines and realizes the raising of operability.
Yet; Under the insertion section situation that the deep imports in body with endoscope; The operation technique person suitably makes the crooked bending operation of bending section and reverses the twist operation of insertion section with the state of observing the endoscopic images that on the picture of display device, is shown, thereby leading section is guided to the target look-out station.Therefore, be provided under the situation on the insertion section at the operation indicating device that will be provided with stick, when the operation technique person carried out twist operation to the insertion section, the operation indicating device that is provided on the insertion section also moved with reversing of this insertion section.So the operation technique person is difficult to moment and judges the endoscopic images that is presented in the display frame and the relation of the position between the stick and carry out bending operation exactly.
Summary of the invention
The object of the present invention is to provide the excellent electrical bending operating means of a kind of operability; When this electrical bending operating means carries out twist operation the operation technique person to the insertion section; The crooked operation of bending section can be made exactly, and the insertion that runs through can be carried out swimmingly up to the deep of insertion section.
Electrical bending operating means of the present invention can be installed on the insertion section of observing with medical apparatus and instruments with electrical bending portion.The electrical bending operating means comprises insertion section installing mechanism portion, rotary mechanism part, insertion section operating portion and support column.
Said insertion section installing mechanism portion comprises the insertion section pressing component, and said insertion section pressing component is located at integratedly and supplies said insertion section to run through in the rotating cylinder of insertion and push to keep this insertion section.And then this insertion section installing mechanism portion can switch to two states: thus said rotating cylinder and insertion section are the state of one on the said insertion section by being pressed in the insertion section pressing component; Perhaps this insertion section is with respect to the state of these rotating cylinder advance and retreat.Said rotary mechanism part is located in the installing mechanism portion of said insertion section, and when said rotating cylinder and said insertion section were one, said rotary mechanism part made this rotating cylinder rotation, makes the axle rotation of said insertion section around this insertion section.Said insertion section operating portion has bending section operating portion and twist operation portion, the electrical bending portion flexure operation that said bending section operating portion has said insertion section, and said twist operation portion makes said rotating cylinder rotation.Said support column becomes one said insertion section operating portion and said insertion section installing mechanism portion.
From following with reference to being expressly understood above-mentioned purpose, characteristic and advantage with other of the present invention the explanation of accompanying drawing more.
Description of drawings
Fig. 1 is the figure that the endoscopic system with electrically bent endoscope and electrical bending operating means is described.
Fig. 2 is the axonometric chart that the electrical bending operating means of the twist operation of the operation that can carry out electrical bending portion that electrically bent endoscope is had and insertion section describes.
Fig. 3 is the left side view of the electrical bending operating means of Fig. 2.
Fig. 4 is the vertical view of the electrical bending operating means of Fig. 2.
Fig. 5 is the rearview of cardinal extremity face side that the electrical bending operating means of Fig. 2 is shown.
Fig. 6 is the cutaway view that is used to explain the structure of insertion section installing mechanism portion.
Fig. 7 is the figure that the relation to the structure of insertion section pressing component and insertion section pressing component and insertion section describes.
Fig. 8 is the figure that the effect to effect of switching tube and insertion section pressing component describes.
Fig. 9 is the figure that the medical system with endoscopic system is described.
Figure 10 is the figure that the structure example to mirror body keeper describes.
Figure 11 is the variation of electrical bending operating means, is the figure that structure and the different electrical bending operating means of equipping position to twist operation portion describe.
Figure 12 is the variation of electrical bending operating means, is the figure that the different electrical bending operating means of the structure of bending section operating portion is described.
Figure 13 is the figure that the different electrical bending operating means of the structure of insertion section turning motor and rotating cylinder is described.
Figure 14 is the figure that another different electrical bending operating means of the structure of insertion section turning motor and rotating cylinder is described.
Figure 15 is the figure that the structure to the mirror body keeper that on fixed part, has ball-joint describes.
Figure 16 is the figure that the structure to the mirror body keeper that on the 3rd rotary joint, is equipped with endoscope's turning motor describes.
The specific embodiment
Below, with reference to accompanying drawing embodiment of the present invention is described.
As shown in Figure 1, the endoscopic system 1 of this embodiment comprises: electrically bent endoscope 2; Endoscope control device 3; Display device 4; And electrical bending operating means 5.
Electrically bent endoscope 2 is to observe to use medical apparatus and instruments, and it comprises: be inserted into intravital insertion section 11; Be located at the operating portion 12 of the base end side of insertion section 11; And the general flexible cord 13 that extends out from operating portion 12.The base end part of general flexible cord 13 is connected on the endoscope control device 3.In endoscope control device 3, be provided with Lighting Division, image processing part and control part 3a, 3b etc.Lighting Division has the power supply unit to light-emitting component supply capabilities such as the illuminating lamp of the illuminating window ejaculation illumination light of the leading section of behind electrically bent endoscope 2, stating 14 or LED.Image processing part has drive circuit and image processing circuit etc.; Said drive circuit be used for driving the CCD that is built in leading section (Charge Coupled Device: charge-coupled image sensor) or CMOS complementary metal oxide semiconductors (CMOS)) (ComplementaryMetal Oxide Semiconductor: solid-state imager such as, said image processing circuit will utilize solid-state imager to carry out opto-electronic conversion and transmit the picture signal of coming and generate signal of video signal.Utilize the signal of video signal that image processing circuit generated of image processing part to be exported to display device 4, thereby on picture 4a, demonstrate endoscopic images.
In addition, in this embodiment, comprise and make electrical bending portion 15 towards first bending section 17 that bends right and left up and down and the structure of second bending section 18.But electrical bending portion 15 is not limited to this structure, also can form following structure: the structure that only possesses first bending section 17; Perhaps second bending section 18 is towards the crooked structure of above-below direction; Perhaps have towards bending section that up and down left and right directions or above-below direction are crooked as the structure of the 3rd bending section etc.
On side of operating portion 12 or another side, be arranged with the first bending section operating portion 21 and the second bending section operating portion 22.The first bending section operating portion 21 constitutes on same axle, to rotate and for example is provided with about in the of first crooked knob 23UD and the first knob 23RL that bends right and left freely.The second bending section operating portion 22 constitutes on same axle, to rotate and is provided with about in the of second crooked knob 24UD and the second knob 24RL that bends right and left freely.
And then, go up lower knob 23UD, 24UD through when operation technique person direction is observed, turning clockwise, thereby make bending section 17,18 for example crooked towards the below, through being rotated counterclockwise lower knob 23UD, 24UD, thereby make bending section 17,18 bending towards the top.On the other hand, left and right sides knob 23RL, 24RL structure are: through they are turned clockwise, thereby make bending section 17,18 towards right-hand bending, through they are rotated counterclockwise, thereby make bending section 17,18 crooked towards left.
Clip by a side and another side than long side surface 19 etc. on be provided with: the water button 25 of supplying gas; Pumping button 26; And a plurality of buttons 27, said button 27 is used to carry out the demonstration switching of display device 4, freeze (breeze) of display image indicates various operations such as (release) indication of perhaps thawing.And, on operating portion 12, be provided with to be used for the treatment instrument that treatment instrument imports the treatment instrument passage run through and insert mouthfuls 28.
In the operating portion 12 of electrically bent endoscope 2, for example be built-in with: about in the of first crooked with motor (not shown), first bend right and left with motor (not shown), bending bends right and left with motor (not shown) with motor (not shown) and second about in the of second.Crooked electricity consumption motor traction and lax first bending section 17 makes progress with angle operating line and the downward angle operating line of using about in the of first.First bend right and left electricity consumption motor traction and lax first bending section 17 left with the angle operating line with use the angle operating line to the right.On the other hand, about in the of second crooked electricity consumption motor traction and lax second bending section 18 upwards with angle operating line and the downward angle operating line of using.Second bend right and left electricity consumption motor traction and lax second bending section 18 left with the angle operating line with use the angle operating line to the right.
In operating portion 12, be provided with not shown knob and use encoder, it detects direction of rotation and the rotation amount of knob 23UD, 23RL, 24UD, 24RL respectively.When knob 23UD, 23RL, 24UD, 24RL by edges such as operation technique persons clockwise or when being rotated counterclockwise, knob will be used to inform that with encoder the knob rotation control signal of direction of rotation and the rotation amount of each knob exports the crooked control part 3a of conduct first drive control part of endoscope control device 3 to.
Electrical bending operating means 5 is installed in the insertion section 11 enterprising enforcements of electrically bent endoscope 2 and uses.Electrical bending operating means 5 is made up of with insertion section installing mechanism portion 50 insertion section operating portion 30, and in insertion section installing mechanism portion 50, has rotary mechanism part 70.Label 37 is support columns, and it becomes one insertion section operating portion 30 and insertion section installing mechanism portion 50.
With reference to Fig. 2, Fig. 3 and Fig. 4 insertion section operating portion 30 is described.
In addition, in this embodiment, establishing the direction shown in the arrow X among Fig. 2～Fig. 4 is preceding extreme direction; If the opposite direction of arrow X is a proximal direction, establishing the direction shown in the arrow Y is left, and the opposite direction of establishing arrow Y is right-hand; If the direction shown in the arrow Z is the top, the opposite direction of establishing arrow Z is the below.
Like Fig. 2～shown in Figure 4, insertion section operating portion 30 comprises: piped first bar 31, second bar 32 and twist operation portion 35.In this embodiment, insertion section operating portion 30 is installed on the operating portion support unit 34 via fixed bar 33.
Be provided with the twist operation portion 35 of tubular at the leading section of first bar 31.Twist operation portion 35 is configured to rotate freely with respect to the leading section outer peripheral face of first bar 31.That is, twist operation portion 35 is structures that the axle (being around the X axle in the drawings) around first bar rotates.
The detection encoder reverses to what direction of rotation and rotation amount detected in twist operation portion 35.When observing from operating portion support unit 34 sides; Twist operation portion 35 is along clockwise or when being rotated counterclockwise, twist operation portion 35 will be used to inform its direction of rotation and rotation amount reverse control signal export to endoscope control device 3 conduct second drive control part reverse control part 3b.In reversing control part 3b, calculate the drive amount of reversing the corresponding insertion section turning motor of control signal (label 73 of the Fig. 3 that afterwards states) with this when reversing control signal being transfused to, and export the twisting action signal to this insertion section turning motor.So under the driving force effect of insertion section turning motor, insertion section 11 is to be reversed the rotary manipulation corresponding mode of twist operation portion 35 with the operation technique person.
Have the first curved detection portion and the second curved detection portion among universal joint 36U1, the 36U2 respectively.Perhaps contactless Magnetic Sensor, optical sensor etc. constitute by potentiometer in curved detection portion; Carry out bar 31,32 with respect to the detection of the direction of rotation of axle AH1, AH2 and rotation amount and this bar 31,32 with respect to the direction of rotation of vertical axis AV1, AV2 and the detection of rotation amount.
And then; When first bar 31 rotates with respect to the first trunnion axis AH1 or with respect to the first vertical axis AV1; With said about in the of first crooked knob 23UD or first bend right and left knob 23RL by identical along the situation of clockwise or counterclockwise operation; Export the first bar rotation control signal from the first curved detection portion to the crooked control part 3a of endoscope control device 3, this first bar rotation control signal is used to inform direction of rotation and the rotation amount of first bar 31 with respect to axle AH1, AV1.
On the other hand; When second bar 32 rotates with respect to the second trunnion axis AH2 or with respect to the second vertical axis AV2; With said about in the of second crooked knob 24UD or second bend right and left knob 24RL by identical along the situation of clockwise or counterclockwise operation; Export the second bar rotation control signal from the second curved detection portion to the crooked control part 3a of endoscope control device 3, this second bar rotation control signal is used to inform direction of rotation and the rotation amount of second bar 32 with respect to axle AH2, AV2.
Operating portion support unit 34 is also used as handle part, and its base end part 34a is fixed on the support column 37 through for example screw 39b integratedly.The X axle of the major axis of operating portion support unit 34 and electrical bending operating means 5 is set parallel relation for.
In addition, in this embodiment, illustrate operating portion support unit 34 is fixed on the structure on the support column 37.But, also can fixed bar 33 and operating portion support unit 34 be constituted one and be fixed on the support column 37, perhaps also can be that insertion section operating portion 30 is installed in the structure on the operating portion support unit 34.
In this embodiment, be provided with potentiometer having on first bar 31 of universal joint, second bar 32, and this potentiometer has frictional resistance portion (not shown).Frictional resistance portion forms following structure: so that prevent maloperation, just first bar 31, second bar 32 rotate during the rotatory force more than effect has predefined strength.
And then through frictional resistance portion is set, when rotating operation stopped, first bar 31, second bar 32 remained on the state that has stopped rotating operation by means of the frictional force of frictional resistance portion.That is, first bar 31 illustrates the curved shape of first bending section 17 of electrical bending portion 15, and second bar 32 illustrates the curved shape of second bending section 18 of electrical bending portion 15.
Therefore, it is the benchmark Visual Confirmation first bar 31 courts inclination and the inclinations of left and right directions up and down of second bar, 32 courts of left and right directions up and down that operation technique person etc. pass through with fixed bar 33, thereby can easily hold electrical bending portion 15 case of bending roughly.That is, first bar 31, second bar 32 are to be used for bending section operating portion that bending section 17,18 is operated, and are to be used for informing respectively that the bending section shape of the curved shape of each bending section 17,18 informs portion.
And, also can twist operation portion 35 be formed calibration loop, this calibration loop is circumferentially with the scale 35a that is used for Visual Confirmation twist operation indicatrix in the cardinal extremity outward flange upper edge of this twist operation portion 35.According to this structure, before splanchnoscopy begins, make the zero point on the calibration loop consistent with datum line 30a.Thus, after twist operation portion 35 is carried out rotating operation, can Visual Confirmation scale 35a confirm the torsional capacity of insertion section 11.That is the twist operation portion 35 that, has a scale 35a is used to inform that the insertion section torsional capacity of the torsional capacity of insertion section 11 informs portion.
In addition, in this embodiment, the order that the frictional force of frictional resistance portion is set for twist operation portion 35, first bar 31, second bar 32 increases, and makes twist operation portion 35 form the structure of rotation the most easily.Thus, when for example under the crooked to left and right direction state of first bending section 17, twist operation portion 35 being operated, can prevent that first bar 31 from rotating towards above-below direction.And when under the crooked state of second bending section 18, first bar 31 being operated, can prevent that second bar 32 from rotating.
And, in this embodiment, can hold electrical bending portion 15 case of bending roughly according to the inclination of bar 31,32.This is because for example first bending section 17 is 210 degree to the angle of bend of top, and is relative therewith, the angle initialization of bar 31 to the top become the angle of bend little predetermined amount of ratio first bending section 17 to the top, thereby pay attention to the operability of first bar, second bar.That is, the amount of bow of first bar, second bar is not set similar relation for the amount of bow of first bending section, second bending section.
And the holding wire that extends out from twist operation portion 35, the first curved detection portion, the second curved detection portion respectively runs through and is inserted in the protection flexible pipe 38 that extends out from the base end part 34a of operating portion support unit 34 and is connected on the endoscope control device 3.
Next, with reference to Fig. 2～Fig. 7 the insertion section installing mechanism portion 50 with rotary mechanism part 70 is described.
At first, insertion section installing mechanism portion 50 is described.
Like Fig. 2-shown in Figure 6, insertion section installing mechanism portion 50 is mainly by constituting with lower component: rotation maintaining part 51; The rotating cylinder 52 that is also used as rotary mechanism part 70; A plurality of jaw members 53 as the insertion section pressing component; A pair of switching tube 54a, 54b; Force application part 55; Move tube 56; And adjusting rod 57.Label 58a, 58b are lids.Lid 58a, 58b are separately fixed on the cardinal extremity face and front end face of rotating cylinder 52.
As shown in Figure 5, on rotation maintaining part 51, be provided with pillar installation portion 51b and fixed arm handling part 51c across bar installation portion 51a.
On bar installation portion 51a, screw togather and be fixed with bar support unit 59.Like Fig. 5 and shown in Figure 6, bar support unit 59 has the pair of support parts 59a of the setting of erecting, and between said support 59a, disposes the fulcrum 57a of adjusting rod 57.Fulcrum 57a is provided on the centrage 51L that extends out abreast from the center of through hole 51h and Z axle.
Like Fig. 2～shown in Figure 5, the arm 57b of reverse U shape is fixedly installed on the adjusting rod 57 integratedly.Be provided with press section 57c at the both ends of arm 57b.When adjusting rod 57 when the direction shown in the dotted line of Fig. 6 moves, press section 57c and the side butt that is located at the base end side that moves the outward flange 56f on the tube 56 move tube 56 and move with respect to rotating cylinder 52 thereby make.
Said support column 37 is installed on the pillar installation portion 51b.Support column 37 at one end side has flange 37a, under the state that is configured on the pillar installation portion 51b, utilizes a plurality of screws 68 to fix integratedly this flange 37a.
On the end that erects the support column 37 that is arranged at pillar installation portion 51b, be equipped with base end part 34a, the center 34c of this base end part 34a is provided on the centrage 51L that extends out from the center of through hole 51h.That is, operating portion support unit 34 is configured in the plane that comprises centrage 51L with adjusting rod 57.And then, the center of gravity of electrical bending operating means 5 is regulated, so that the center of gravity of electrical bending operating means 5 also is configured in this plane.Consequently, centrage 51L-the Z direction is exactly the center of gravity direction of electrical bending operating means 5, and the direction of operating of adjusting rod 57 is consistent with the center of gravity direction of electrical bending operating means 5.Therefore, through under the state that palm is placed on the operating portion support unit 34, utilizing finger manipulation adjusting rod 57, thereby the influence of the torque that causes by gravity can not be received, the bar operation can be carried out efficiently.
Shown in the dotted line of Fig. 5, on the 51c of fixed arm handling part, be equipped with arm installing component 60, this arm installing component 60 has with freely mode of loading and unloading and is installed in the installed part 60d on the handling part 7a of fixed arm 7.Arm installing component 60 comprises rotation maintaining part installation portion 60a and fixed arm installation portion 60b.
The end clamping of rotation maintaining part installation portion 60a fixed arm handling part 51c and is installed through the mode that the second pin 59b rotates freely.Thus, rotation maintaining part installation portion 60a is adapted to from the side face of rotation maintaining part 51 outstanding laterally.The connecting portion 60c that constitutes the end of fixed arm installation portion 60b rotates on the other end that is installed in rotation maintaining part installation portion 60a freely via the 3rd pin 69c.
Said installed part 60d is located at the other end of fixed arm installation portion 60b, and this installed part 60d rotates freely around second pin and the 3rd pin.This installed part 60d is fixed on the handling part 7a of fixed arm 7 with the fastening mode integratedly.
As shown in Figure 6, rotating cylinder 52 has rotating part 52a and sliding part 52b at outer peripheral face.Rotating part 52a rotates and remains on freely on the bearing 6a that is located at rotation maintaining part 51.The mobile tube 56 that constitutes switching mechanism portion is configured in the periphery of sliding part 52b sliding freely.
The base end side of the inner peripheral surface of rotating cylinder 52 and middle part have towards central axis direction outstanding protuberance 52c, 52d.In this embodiment, protuberance 52c is formed on the rotating cylinder 52.With respect to this, protuberance 52d for example with its outer peripheral face through screwing togather or mode such as bonding is fixed on the inner peripheral surface of rotating cylinder 52 integratedly, thereby formed rotating cylinder 52.
Here, with reference to Fig. 7 protuberance 52d is described.Therefore in addition, the structure of the structure of protuberance 52c and protuberance 52d is roughly the same, the structure of protuberance 52d is described and the explanation of omitting protuberance 52c.
Be formed with on the protuberance 52d that is located at front shown in Figure 7 supply shown in insertion section 11 shown in the dotted line and the dotted line after state one externally attach the through hole 52h that pipe (label 101,102 of Fig. 9) runs through insertion.This through hole 52h has: supply the insertion section that insertion is run through in insertion section 11 to run through patchhole 52e; And supply to attach a pair of flexible pipe that pipe 101,102 runs through insertion and run through patchhole 52f outward.
On three positions of protuberance 52d, be provided with and be used to dispose notch recesses 52g as the jaw members 53 of insertion section pressing component.Three notch recesses 52g are setting radially with respect to center O 1.The jaw members 53 that is configured among the notch recesses 52g is mounted to and can rotates towards center O 1 direction around pin 69d.Label 53a is the press section, and its outer surface of pushing the insertion section 11 shown in the dotted line is to fix maintenance.With when utilizing the major axis that makes insertion section 11 when three press section 53a are fixing to keep insertion section 11 to be positioned at the equipping position that mode on the center O 1 is set jaw members 53.
In addition, constitute the external diameter little preliminary dimension of diameter with the imaginary circles 53b by shown in the double dot dash line of three press section 53a inscribes farthest when center O 1 moves when jaw members 53 that kind shown in dotted line than insertion section 11.
And; Press section 53a forms following structure: under the state of holding rod; Because the active force of the not shown spring that has on the jaw members 53, such pressing force is not applied on insertion section 11 shown in the solid line of the dotted line of Fig. 6 and Fig. 7, and press section 53a is configured in retreating position.When press section 53a moved to retreating position, electrical bending operating means 5 was free to advance or retreat with respect to insertion section 11.
As shown in Figure 6; In the inner peripheral surface 52i of rotating cylinder 52 side; Dispose the switching tube 54 that constitutes switching mechanism portion on another distolateral position respectively more leaning between protuberance 52c that is provided with on the rotating cylinder 52 and the protuberance 52d and than protuberance 52d, said switchings tins 54 disposed with respect to inner peripheral surface 52i sliding freely.
In pushing hole 54h, dispose jaw members 53, this jaw members 53 is rotated and is arranged on protuberance 52c freely, 52d is last.And then when being in jaw members 53 and being configured in the state of pushing in the 54h of hole, shown in dotted line, the lateral surface 53o of press surface 54p and jaw members 53 connects.And then, under this butt state, shown in solid line, when switch tube 54 under the effect of force application part 55 from dotted line position for example during displacement Lx, the face 54p of being pressed pushes the lateral surface 53o of jaw members 53 along with the mobile of this switchings tube 54.And then press section 53a is by on the outer surface that is pressed in the insertion section 11 shown in the dotted line.
And, as shown in Figure 6, switch tube 54 and have pin cave 54d at outer peripheral face.Sliding pin 69e is through riveted joint or screw-in version and being fixedly installed on integratedly among the 54d of pin cave.Sliding pin 69e is configured to project to via the slotted hole 52j that on the sliding part 52b of rotating cylinder 52, forms the length in the outer peripheral face outside of sliding part 52b.Slotted hole 52j is the through hole that the inner peripheral surface of rotating cylinder 52 and outer peripheral face are communicated with, and forms the axis with rotating cylinder 52.
Moving tube 56 is provided on the sliding part 52b of rotating cylinder 52 sliding freely.Has outward flange 56f on the precalculated position of the outer peripheral face middle part of mobile tube 56.The press section 57c of above-mentioned arm 57b is connected on the outward flange 56f.And then, when adjusting rod 57 when the direction shown in the dotted line of Fig. 6 moves, move tube 56 and move towards front.On mobile tube 56, be formed with two pin-and-hole 56h that are used to dispose sliding pin 69e.Pin-and-hole 56h is the through hole that the inner surface that moves tube 56 and outer surface are communicated with.
Switching the mobile integratedly structure of tube 54a, 54b to two here, describes.
The assembling operation person is switched tube 54b, force application part 55, protuberance 52d and first a switching tube 54a with second in advance and is provided in the inner peripheral surface of rotating cylinder 52.Then, the assembling operation person will move tube and 56 be configured on the sliding part 52b of rotating cylinder 52.
Next, the assembling operation person is configured in sliding pin 69e among each pin cave 54d that switches tube 54a, 54b via pin-and-hole 56h that moves tube 56 and slotted hole 52j.Then, the operator is through screwing togather or the riveted joint mode is fixed on each sliding pin 69e that each switches a tube 54a, 54b is last.So, two switch a tube 54a, 54b are configured to slide freely with respect to the inner peripheral surface of rotating cylinder 52, on the other hand, move tube 56 and be configured to slide freely with respect to the sliding part 52b of rotating cylinder 52.And then, form 56 and two in mobile tube and switched the structure that tube 54 slides with respect to rotating cylinder 52 integratedly.
Therefore, switch tube 54b and receive the active force of force application part 55 and when base end side moves, move tube 56 and first and switch a tube 54a and switch the mobile of tube 54b along with second and move towards base end side integratedly when second.So, rotate the jaw members 53 be formed at freely on the protuberance 52d runs through patchhole 52e towards the insertion section by means of the press surface 54p of this switchings 54a, 54b center O 1 direction and move.
On the other hand, when adjusting rod 57 is moved towards the direction shown in the dotted line of Fig. 6, thereby move tube 56 when front moves, be accompanied by and move moving of tube 56, switch the active force that a tube 54a, 54b overcome force application part 55 and also move towards front.So, run through jaw members 53 that center O 1 direction of patchhole 52e moves away from center O 1 to the insertion section by means of the press surface 54p that switches a tube 54a, 54b.
At last, the rotary mechanism part 70 that insertion section installing mechanism portion 50 is had describes.
Like Fig. 3, shown in Figure 4; Rotary mechanism part 70 mainly is made up of with gear 71 and insertion section turning motor 73 tube; Said tube is arranged on the rotating cylinder 52 with gear 71, and said insertion section turning motor 73 is arranged on the motor case 72 that is fixed in integratedly on the rotation maintaining part 51.Insertion section turning motor 73 produces the driving force that makes rotating cylinder 52 rotations.
As shown in Figure 5, tube is arranged on from the rotating part 52a periphery of the outstanding rotating cylinder 52 of the through hole 51h of rotation maintaining part 51 with gear 71.Tube is the tube side spur gear 71a that have with the teeth directional of the central axes of rotating cylinder 52 with gear 71.On the motor reel 73a of insertion section turning motor 73, be set with motor side spur gear 74 with tube side spur gear 71a engagement.
According to this structure, the rotary driving force of insertion section turning motor 73 is passed to a side spur gear 71a via motor reel 73a, motor side spur gear 74, and rotating cylinder 52 is with respect to 51 rotations of rotation maintaining part thus.At this moment, in rotating cylinder 52 rotations, move tube 56, protuberance 52c, protuberance 52d, switch also rotation integratedly of tube 54a, 54b.At this moment, push under the situation of insertion section 11 at the press section 53a that is located at the last jaw members 53 of protuberance 52c, 52d, insertion section 11 also rotates with rotating cylinder 52 together.
The effect of the endoscopic system 1 of the electrical bending operating means 5 of formation describes to having in the above described manner.
The endoscopic system 1 of this embodiment for example constitutes medical treatment system as shown in Figure 9 10.Except above-mentioned endoscopic system 1, medical treatment system 10 for example also has with lower component: one externally attaches pipe 101,102; A plurality of mechanical hands (manipulation) device 110; Supporting base 120 with mirror body keeper; And Robot actions device 130 etc.
A plurality of robot devices 110 for example are to have the controlling with mechanical hand 112 and high frequency mechanical hand 114 with tool arm 113 of arm 111.The position of the position of the arm 111 of robot device 110 and posture, tool arm 113 and posture all are to set through the master control portion 131,132 that has on the Robot actions device 130 is operated.
Robot actions device 130 possess grips with master control portion 131 and high frequency with master control portion 132.Master control portion the 131, the 132nd is used to set the input equipment of the joint angles of controlling the not shown a plurality of joints that have with mechanical hand 112 and high frequency mechanical hand 114, axial position etc.Master control portion 131,132 is installed on the maintaining part 141,142 that is equipped on the foot rest 140 sliding freely.
Each master control portion 131,132 comprises: the master control side joint block 133,134,135,136,137 corresponding with a plurality of joints of each mechanical hand 112,114; And master control side arm 138, master control side tool arm 139.
Controlling the insertion section separately that is had with mechanical hand 112 and high frequency mechanical hand 114 runs through and is inserted in externally attaching in the pipe 101,102 of setting along the insertion section 11 of electrically bent endoscope 2.In this figure, to control to run through and be inserted in first and outer attach in the pipe 101 with mechanical hand 112, high frequency mechanical hand 114 runs through and is inserted in second and attaches in the pipe 102 outward.
Supporting base 120 possesses pillar 121.On pillar 121, be fixed with workbench 122.Erect in the upper surface side of workbench 122 and to be provided with upright arm 123.Upright arm 123 is mounted to respect to workbench 122 and rotates freely.On upright arm 123, be provided with the first arm holding member 125 via for example a plurality of fixed parts 124.The vertical arm portions 126v that forms the L type arm 126 of L font rotates and is installed in freely on the first arm holding member 125.The corresponding mirror body keeper of mechanical hand (following brief note is a mirror body keeper) 127 is installed on the horizontal arm section 126h of L type arm 126.Mirror body keeper 127 comprises: the 127a of swivel bearing portion; A plurality of arm 127b; Rotary joint 127c; The 127d of hammer portion; And fixed part 127e.The operating portion 12 that is installed in the electrically bent endoscope 2 on the fixed part 127e can freely change towards and posture.
In addition, label 129U1,129U2 are the robot drives unit, and they are installed on the fixed part 127e.In robot drives unit 129U1,129U2, be equipped with a plurality of arm drive motors (not shown) or robot drives motor; Said arm drive motor is drawn respectively and a plurality of angle operating lines of the joint action that makes mechanical hand 112,114 of relaxing, and said robot drives motor makes robot device 110 advance and retreat.
The structure of mirror body keeper 127 at length is described with reference to Figure 10.
Constitute the 127a of swivel bearing portion of mirror body keeper 127, be installed on the horizontal arm section 126h with the mode of rotating freely via rotating shaft 127a1.On the 127a of swivel bearing portion, the first arm 127b1 is installed on the rotation maintaining part 127a2 with the mode of rotating freely.
The first arm 127b1 and the second arm 127b2 couple together via the first connector 127f1.The second arm 127b2 and the 3rd arm 127b3 install with the mode of rotating freely via the second rotary joint 127c2.The 3rd arm 127b3 and the 4th arm 127b4 couple together via the second connector 127f2.The fixed part 127e1 of fixed part 127e is installed on the 4th arm 127b4 with the mode of rotating freely via the 3rd rotary joint 127c3.
In this embodiment; The 3rd rotating shaft extended line L3 of the first rotating shaft extended line L1 of first rotary joint that the 127a of swivel bearing portion is had, the second rotating shaft extended line L2 of the second rotary joint 127c2 and the 3rd rotary joint 127c3 has the cross point CP that roughly intersects on one point.And then the first rotating shaft extended line L1, the second rotating shaft extended line L2 and the 3rd rotating shaft extended line L3 constitute virtual X axle, Y axle and Z axle.
And then, constitute and can change the length different fixed 127e1 of portion, so that the extension 13a of general flexible cord 13 perhaps extends out near it from this intersection point CP, said general flexible cord 13 extends out from the sidepiece that is fixed on the fixed part 127e of operating portion 12.
CP's general flexible cord 13 through making electrically bent endoscope 2 extends out from the cross point, and CP leaves the torque that distance L z for example produces (F * Lz) from the cross point owing to extension 13a thereby can eliminate.Thus, the operation technique person controls electrical bending operating means 5 and also states later the operability raising that mode is carried out the insertion of insertion section 11.
In addition, leave under the situation of distance L z at extension 13a and cross point CP, thus also can be with general flexible cord 13 near the CP of cross point, avoid the torque (generation of F * Lz) than the more forward distolateral partial fixing of extension 13a.
Effect to medical treatment system 10 describes.
When using medical treatment system 10, user will attach pipe 101,102 outward and be installed on the insertion section 11 of electrically bent endoscope 2.And user will be equipped with the outer operating portion 12 that attaches the electrically bent endoscope 2 of pipe 101,102 and be installed on the fixed part 127e of mirror body keeper 127.Then, electrical bending operating means 5 is configured in the flexible pipe portion 16 of insertion section 11.
At this moment, user makes adjusting rod 57 move to the operation of the position shown in the dotted line from the solid line position of Fig. 6, and adjusting rod 57 is remained on dotted line position.Thus, the press section 53a that is located at the jaw members 53 in the rotating cylinder 52 of electrical bending operating means 5 moves to retreating position.
Next, user will be equipped with the outer insertion section 11 that attaches pipe 101,102 and run through from the base end side of electrical bending operating means 5 and be inserted in the through hole 52h.Because through hole 52h comprises that patchhole 52e is run through in the insertion section and a pair of flexible pipe runs through patchhole 52f, therefore at this moment, the outer insertion section 11 that attaches pipe 101,102 is installed with predetermined being inserted in the through hole 52h towards running through.
Then, after electrical bending operating means 5 arrived the precalculated position of flexible pipe portion 16, user was removed the hold mode of adjusting rod 57.So two switching tube 54a, 54b receive the active force of force application part 55 and move to base end side, the press section 53a of jaw members 53 pushes flexible pipe portion 16, thereby electrical bending operating means 5 is provided in the flexible pipe portion 16 integratedly.
Here, operation technique person 149 for example observes on one side the endoscopic images that on the picture 4a of display device 4, demonstrates, the outer insertion section 11 that attach pipe 101,102 will be installed run through be inserted into body on one side.At this moment, because operating portion 12 remains on the fixed part 127e of mirror body keeper 127, so operation technique person 149 for example holds the operating portion support unit 34 of electrical bending operating means 5 with a handgrip, with another hands maintenance insertion section 11.
And then operation technique person 149 carries out following operation: make the adjusting rod 57 of electrical bending operating means 5 move to the operation of dotted line position from the solid line position of Fig. 6; Make first bar 31 of insertion section operating portion 30, the operation that second bar 32 rotates; And the operation that makes twist operation portion 35 rotation, be inserted in the body deep and the target look-out station is presented on the picture 4a thereby insertion section 11 run through.
Then; For insertion that begins treatment instrument or the disposal of being undertaken by mechanical hand 112,114; The operation technique person makes the installed part 60d of fixed arm installation portion 60b rotate around second pin or the 3rd pin; Make this installed part 60d and fixed arm 7 handling part 7a towards consistent, then installed part 60d is fixed on the 7a of handling part integratedly.Thus, electrical bending operating means 5 is by fixed arm 7 supportings.Therefore, the state that also can both hands be taken away from electrically bent endoscope 2 of the person that becomes the operation technique.
In addition; Because the installed part 60d of arm installing component 60 is outstanding laterally from side face; And rotate freely around second pin or the 3rd pin, the assembling work direction in the time of therefore can installed part 60d being installed in handling part 7a and going up easily be set in to the insertion depth of leading section and towards the minimum direction of the influence of variation on.Therefore, when assembling work finishes, the endoscopic images of the target look-out station that the endoscopic images that is shown before on picture 4a, demonstrating and assemble is roughly the same.
Specifically, operation technique person 149 moves electrical bending operating means 5 with the state that operating portion support unit 34 was taken away and controlled to hands from the adjusting rod 57 of electrical bending operating means 5.So, being accompanied by moving of this electrical bending operating means 5, the insertion section 11 that is fixed on integratedly on the electrical bending operating means 5 is inserted in patient's body.Then, the operation technique person suitably operates so that insertion section 11 is inserted into deep in the body adjusting rod 57 and insertion section operating portion 30.
That is, operation technique person 149 carries out following operation repeatedly so that insertion section 11 is inserted in the body: the operation that hands is taken away and insertion section 11 is inserted in body from adjusting rod 57; The operation of controlling adjusting rod 57 and electrical bending operating means 5 being moved to proximal direction with respect to the allocation position of insertion section 11; And the operation of once more hands being taken away and insertion section 11 is inserted in body from adjusting rod 57.
And operation technique person 149 operates first bar 31, second bar 32 or twist operation portion 35 when hands is taken away and insertion section 11 inserted in body from adjusting rod 57.When 149 pairs of bars of operation technique person 31,32 were operated, first bending section 17 of electrical bending portion 15 and second bending section 18 were according to the operation of first bar 31 and second bar 32 and bending.
On the other hand, when the operation technique person operates twist operation portion 35, be fixed on insertion section 11 rotations on the press section 53a that is set at the jaw members 53 in the rotating cylinder 52 integratedly.When 11 rotations of insertion section, rotating cylinder 52 is with respect to 51 rotations of rotation maintaining part.The operating portion support unit 34 that operation technique person 149 controlled constitutes via support 37 and is fixedly installed on the rotation maintaining part 51.
Therefore; Electrical bending operating means 5 according to this embodiment; When twist operation portion 35 being operated when reversing insertion section 11; Position with insertion section operating portion 30 of first bar 31, second bar 32 and twist operation portion 35 does not change; Therefore operation technique person 149 can hold the bending direction of electrical bending portion 15, the i.e. direction of operating of first bar 31 and second bar 32 exactly, thereby can make first bending section 17 of electrical bending portion 15 and the operation of second bending section, 18 bendings.
And, in this embodiment, utilize 31 pairs of first bending sections 17 that constitute electrical bending portion 15 of first bar to carry out bending operation, utilize 32 pairs second bending sections of second bar 18 to carry out bending operation.And then, utilize first bar 31 to carry out the state behind the bending operation and utilize second bar 32 to have carried out the state behind the bending operation, under state separately, be held.Therefore, bending operation state that can Visual Confirmation first bar 31 to be confirming the case of bending of first bending section 17, and bending operation state that can Visual Confirmation second bar 32 is to confirm the case of bending of second bending section 18.
Therefore; When the leading section that makes electrically bent endoscope 2 14 was in the opposed state in disposal position, the bending operation state of operation technique person Visual Confirmation bar 31,32 was to judge for example whether the case of bending of bending section 17,18 is to be suitable for running through the state that inserts treatment instrument.
Here, be to be suitable for running through under the situation of the state that inserts treatment instrument being judged to be, the operation technique person begins to insert treatment instrument or begins to dispose by means of mechanical hand 112,114.On the other hand; Being judged to be is to be inappropriate under the situation that runs through the state that inserts treatment instrument; The operation technique person operates bar 31,32 once more; It is become be suitable for running through the bending operation state that inserts treatment instrument, and make leading section 14 once more and to dispose the position opposed, with the insertion of carrying out treatment instrument etc.
And, in this embodiment, the center of gravity of adjusting rod 57, operating portion support unit 34 and electrical bending operating means 5 is configured in the same plane, and makes the direction of operating of adjusting rod 57 consistent with the center of gravity direction of electrical bending operating means 5.It is minimum that the torque of the distaff that is caused by gravity when therefore, adjusting rod 57 being operated reaches.And when the bending operation that carries out the insertion section, twist operation, the torque around the operating portion support unit that is caused by gravity also reaches minimum.
Thereby, can stably keep electrical bending operating means 5 all the time.Therefore, can reliably and exactly operate the bar 31,32 and the adjusting rod 57 of electrical bending operating means 5.And, can swimmingly electrical bending operating means 5 be installed on the arm installing component 60.
Like this, according to the electrical bending operating means, except the bending operation of electrical bending portion, can also carry out the twist operation of insertion section with the mode of the bending operation that do not hinder electrical bending portion.And the mode of operation of the bar through confirming to make the electrical bending portion flexure operation that the electrical bending operating means had can be held the case of bending of electrical bending portion.
In addition, in above-mentioned endoscopic system 1, show first bar 31 and second bar 32 are arranged on the structure on the electrical bending operating means 5, this is because electrical bending portion 15 is the structures with first bending section 17 and second bending section 18.Therefore; Electrical bending portion 15 for the structure that only has first bending section 17, or second bending section 18 only towards the crooked structure of above-below direction, or have under the situation such as structure of bending section that left and right directions or above-below direction are crooked up and down as the 3rd bending section, can tackle through the bar 31,32 corresponding with the curved part structure of electrical bending portion 15 and the bar of twist operation portion 35 or other structures etc. are installed on fixed bar 33.
And, in above-mentioned embodiment, show the structure that twist operation portion 35 is arranged on the front of first bar 31.But, shown in figure 11, also can the 35A of twist operation portion be located on the fixed bar 33.According to this structure, when twist operation portion 35 is operated, can prevent reliably first bar, 31 grades are carried out maloperation.
And, in above-mentioned embodiment, with twist operation portion 35 as reversing the detection encoder.But, shown in figure 11, also can form the structure that the button 35L that for example will be used to indicate torsional direction, not shown button 35R are located at the leading section etc. of first bar 31 for example.According to this structure, during button 35R or button 35L are operated, can reverse insertion section 11.In addition, in Figure 11 to giving same numeral and omit repeat specification with the identical parts of structure of Fig. 3 etc. of the above-mentioned embodiment of explanation.
And; Shown in figure 12; Also can constitute electrical bending operating means 5 in the following manner: on the for example left surface 33L of fixed bar 33, knob is set; The crooked knob 23UD, first about in the of first of the first bending section operating portion 21 on this knob and the operating portion of the being located at electrically bent endoscope 2 12 crooked knob 24UD, second about in the of second of the knob 23RL and the second bending section operating portion 22 knob 24RL that bends right and left that bends right and left is identical, and on the Y of upper surface direction, lists one and be provided for indicating the button 35L of torsional direction and not shown button 35R.
Be located at knob on the left surface 33L and be crooked knob 154UD, second about in the of second that the crooked knob 153UD, first about in the of first that constitutes the first bending section operating portion 151 bends right and left knob 153RL and the constitute the second bending section operating portion 152 knob 154RL that bends right and left.According to this structure; Though be difficult to as electrical bending operating means 5, can hold at a glance the curved shape of electrical bending portion 15 with bar 31,32; But can not diminish the function of reversing insertion section 11, can realize the further miniaturization of electrical bending operating means.
Further, in above-mentioned embodiment, thereby the rotary driving force that forms insertion section turning motor 73 is passed to the structure that a side spur gear 71a makes rotating cylinder 52 rotations via motor side spur gear 74.But, make the structure of rotating cylinder 52 rotation be not limited to this, also can be structure shown in Figure 13 or structure shown in Figure 14 etc.
With reference to Figure 13 another structure example of insertion section turning motor and rotating cylinder is described.
Shown in figure 13, in this embodiment, insertion section turning motor 73A is provided among the inner space 37c of support column 37B.In rotating cylinder 52, be provided with a side spur gear 71a as tube with gear 71.In this embodiment, on pillar installation portion 51b, be formed with the motor reel that the motor reel 73a that supplies insertion section turning motor 73A runs through insertion and use hole 51m.Motor reel is to be communicated with the surface of pillar installation portion 51b and the through hole at the back side with hole 51m.The first bevel gear 75a is fixed on the motor reel 73a integratedly.This first bevel gear 75a is configured in the rear side of pillar installation portion 51b.
On pillar installation portion 51b, be formed with the through hole 51n that is used to set bearing 76.Bearing 76 is to rotate freely with transmitter shaft 77 supportings.The one distolateral second bevel gear 75b that has with first bevel gear 75a engagement of transmitter shaft 77 distolaterally has a spur gear 78 that meshes with the tube side spur gear 71a of gear 71 with tube at another.
According to this structure, make motor reel 73a rotation through driving insertion section turning motor 73A, the rotation of this motor reel 73a is passed to tube with gear 71 via bevel gear 75a, 75b, transmitter shaft 77, spur gear 78, thus rotating cylinder 52 rotations.
According to this structure,, need not motor case 72, thereby can realize the miniaturization of electrical bending operating means 5 through insertion section turning motor 73A being provided in the support column 37B as the structure member that constitutes electrical bending operating means 5.In addition, in Figure 13 to giving same numeral and omit repeat specification with the identical parts of structure of Fig. 3 etc. of the above-mentioned embodiment of explanation.
With reference to Figure 14 the another structure example of insertion section turning motor and rotating cylinder is described.
Shown in figure 14, in this embodiment, worm screw 79 is fixedly installed on the motor reel 73a of insertion section turning motor 73A.And then, make the rotating part 52a of rotating cylinder 52 form the worm gear 80 that supplies worm screw 79 engagements.In addition, in Figure 14 to giving same numeral and omit repeat specification with the identical parts of structure of Fig. 5 etc. of the above-mentioned embodiment of explanation.
According to this structure, except above-mentioned effect and effect, can prevent insertion section 11 naturally and understandably to be rotated from the counteracting force that reverses of insertion section 11.
In addition, being located at outer on the insertion section 11 attaches pipe 101,102 and is made by having flexible resin system or rubber usually.But, also can adopt to have flexible and have inflexible serpentine pipe to constitute the outer pipe 101,102 that attaches with respect to external force.
According to this structure; Press section 53a not only pushes insertion section 11; Also push and outer attach pipe 101,102, thereby can realize firm fixingly, and need not form respectively with the outside dimension of the outside dimension of insertion section 11 and serpentine pipe is mutually different and make up consistent press section; The jaw members of the press section through will having the general and corresponding wider width of various combinations is located at protuberance 52c, 52d is last, thereby the cost that can realize electrical bending operating means 5 reduces.
And; In the above-described embodiment; Use medical apparatus and instruments with electrically bent endoscope as observing, but observation being not limited to electrically bent endoscope with medical apparatus and instruments, for example also can be the medical flexible pipe that has with the same electrical bending portion of above-mentioned electrically bent endoscope.This medical flexible pipe is to have to supply observation runs through insertion with probe and mechanical hand with probe, illumination the so-called outer of access opening to attach pipe respectively, also can be to have the structure that supplies endoscope to run through the access opening of insertion to observe the access opening that runs through insertion with probe and illumination with probe to replace confession respectively.
With reference to Figure 15, Figure 16 other structure example of mirror body keeper 127 are described.
For the mirror body keeper 127X of this embodiment shown in Figure 15, fixed part 127e is made up of the first installing component 127e2 and the second installing component 127e3.And then, utilize ball-joint 127g that the first installing component 127e2 and the second installing component 127e3 are coupled together.
According to this structure, the degree of freedom of mirror body keeper 127X increases, and thus, when the operation technique person operated the twist operation portion 35 of electrical bending operating means 5, operating portion 12 was also reversed, thereby can carry out the twist operation of insertion section 11 swimmingly.
In addition, in this figure, the center that makes ball-joint 127g is near above-mentioned cross point CP.Therefore, though omitted diagram, general flexible cord 13 will be than the also forward distolateral partial fixing of its extension 13a near the CP of cross point.
The turning motor 127h of endoscope is driven according to the rotation detection signal that exports endoscope control device 3 from rotary manipulation force detection sensor 127i to.That is, endoscope control device 3 compares with threshold value when being transfused to rotation detection signal, thereby judges whether to drive the turning motor 127h of endoscope, perhaps confirms the output valve of driving force.
Then, after driving the turning motor 127h of endoscope, endoscope control device 3 exports predetermined rotation control signal to endoscope turning motor 127h.So under the driving of the turning motor 127h of endoscope, fixed part 127e rotates, thereby the operating portion 12 of electrically bent endoscope 2 also rotates.
According to this structure; Because the turning motor 127h of endoscope that is arranged on the mirror body keeper 127Y moves according to the rotation detection signal that the rotary manipulation force detection sensor 127i from electrical bending operating means 5 exports; Therefore; When the operation technique person operates twist operation portion 35, the turning motor 127h of endoscope as required and the twist operation of auxiliary insertion section 11, thereby can stably carry out the twist operation of insertion section 11 all the time.Thus, can realize the miniaturization of insertion section turning motor 73.
In addition, shown in the dotted line among the figure, torque sensor 127k that the rotation to the operating portion 12 of electrically bent endoscope 2 detects also can be set to replace on electrical bending operating means 5, being provided with the rotary manipulation force detection sensor.According to this structure, the turning motor 127h of endoscope is driven according to the moment of torsion detection signal from torque sensor 127k output, thereby the twist operation of insertion section 11 is assisted.
With reference to accompanying drawing preferred implementation of the present invention is narrated; Be to be understood that to the present invention is not limited to these embodiments those skilled in the art can make various distortion and change in the scope of the purport of the present invention that does not break away from claims to be put down in writing.
Claims (11)
1. electrical bending operating means, said electrical bending operating means comprises:
Insertion section installing mechanism portion; It has the insertion section pressing component; Said insertion section pressing component is located at sacrificial vessel integratedly to be had the insertion section of the endoscope of electrical bending portion to run through on the rotating cylinder of insertion and push to keep this insertion section; Said insertion section installing mechanism portion can switch to following state: thus to make said rotating cylinder and insertion section on the said insertion section be the state of one by being pressed in this insertion section pressing component, perhaps makes the state of this insertion section with respect to these rotating cylinder advance and retreat;
Rotary mechanism part; It is located in the installing mechanism portion of said insertion section, when said rotating cylinder and said insertion section are one, through the driving force of insertion section turning motor; Said rotary mechanism part makes this rotating cylinder rotation, makes the axle rotation of said insertion section around this insertion section;
The insertion section operating portion, it has bending section operating portion and twist operation portion, the electrical bending portion flexure operation that said bending section operating portion has said insertion section, said twist operation portion makes said rotating cylinder rotation; And
Support column, it makes said insertion section operating portion and said insertion section installing mechanism portion constitute one,
The said bending section operating portion of said insertion section operating portion is to have universal joint and freely a bar of bending, and said twist operation portion rotates around the axle of said bar or the axle of said insertion section operating portion.
2. electrical bending operating means according to claim 1 is characterized in that,
Said insertion section installing mechanism portion comprises:
Cyclic apparatus main body;
Said rotating cylinder rotates and is maintained at freely in the inner peripheral surface of said apparatus main body;
Protuberance; It is located on the inner surface of said rotating cylinder integratedly; And have and supply said insertion section to run through the through hole of insertion and rotate said insertion section pressing component freely; Said insertion section pressing component has the press section, and push the outer surface that is configured in this insertion section in this through hole at least said press section;
Switch tube; It is configured in the said rotating cylinder sliding freely; And have the hole of pushing of the press section that is used to dispose said insertion section pressing component, through being slided, this switching tube switches the state and the non-pressed state of the outer surface of pushing said insertion section in said press section in said rotating cylinder;
Force application part, it is configured in the said rotating cylinder, and under elongation state to the said switching tube application of force, thereby will be configured in this switchings tin push press section in the hole by on the outer surface that is pressed in said insertion section;
Move tube, it is configured on the outer peripheral face of said rotating cylinder sliding freely, and constitutes one with said switching tube; And
Adjusting rod; Its rotation is configured on the said apparatus main body freely; And said mobile active force that overcomes said force application part moved at the long axis direction of said rotating cylinder, thereby remove the pressed state that the outer surface of said insertion section is pushed in said press section under the active force of this force application part.
3. electrical bending operating means according to claim 1 is characterized in that,
Said rotary mechanism part comprises with the lower part:
Cyclic apparatus main body;
Have tube with the said rotating cylinder of gear, this rotating cylinder rotation is maintained in the inner peripheral surface of said apparatus main body freely, and runs through and be inserted with said insertion section;
Said insertion section turning motor is fixedly installed on the said apparatus main body directly or indirectly, is used to produce the driving force that said rotating cylinder is rotated; And
Gear train, its driving force with said insertion section turning motor is passed to said rotating cylinder.
4. electrical bending operating means according to claim 3 is characterized in that,
Said insertion section turning motor is arranged on the motor case, and said motor case is fixedly installed on the said apparatus main body, and the gear that constitutes said gear train is a spur gear.
5. electrical bending operating means according to claim 3 is characterized in that,
Said insertion section turning motor is arranged in the inner space that said support column has, and the gear that constitutes said gear train comprises bevel gear or worm screw.
6. electrical bending operating means according to claim 2 is characterized in that,
The center of gravity of electrical bending operating means is arranged in the plane that is fixedly installed on the operating portion support unit on the said support column that comprises said adjusting rod and said insertion section operating portion.
7. the medical treatment system with electrical bending operating means is characterized in that,
Said medical treatment system comprises:
Endoscope, it has insertion section and connection and is arranged on the operating portion on the cardinal extremity of this insertion section, and said insertion section has electrical bending portion;
Mirror body keeper; The fixed part that said mirror body keeper has a plurality of arms, a plurality of rotary joint and is used for fixing said endoscope; The first arm and second arm couple together via first connector; Second arm and the 3rd arm are installed with the mode of rotating freely via second rotary joint; The 3rd arm and the 4th arm couple together via second connector, and said fixed part is installed on the 4th arm with the mode of rotating freely via the 3rd rotary joint, and said a plurality of rotary joints constitute: setting under the state; Said rotary joint rotating shaft separately is separately positioned on the position that constitutes virtual X axle, Y axle and Z axle, and the extended line of rotating shaft separately intersects on one point; And
The described electrical bending operating means of claim 1.
8. medical treatment system according to claim 7 is characterized in that,
The point that extended line intersected of separately the virtual X axle that rotating shaft constituted of said a plurality of rotary joint, Y axle, Z axle is formed at the extension of the general flexible cord that extends out from said operating portion.
9. medical treatment system according to claim 7 is characterized in that,
The fixed part that is used for fixing said endoscope has first installing component and second installing component, and utilizes ball-joint that first installing component and second installing component are coupled together.
10. medical treatment system according to claim 7, its spy is being,
On said the 3rd rotary joint, be provided with the turning motor that makes said fixed part rotation.
11. medical treatment system according to claim 10 is characterized in that,
Said turning motor is according to being driven from the rotation detection signal of rotary manipulation force detection sensor output or the moment of torsion detection signal of exporting from torque sensor; Said rotary manipulation force detection sensor is located on the said electrical bending operating means, and said torque sensor is located on the said fixed part.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US12/120,478 US8409079B2 (en) | 2008-05-14 | 2008-05-14 | Electric bending operation device and medical treatment system including electric bending operation device |
| US12/120,478 | 2008-05-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101579225A CN101579225A (en) | 2009-11-18 |
| CN101579225B true CN101579225B (en) | 2012-09-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101408163A Active CN101579225B (en) | 2008-05-14 | 2009-05-12 | Electric bending operation device and medical treatment system including the same |
Country Status (5)
| Country | Link |
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| US (1) | US8409079B2 (en) |
| EP (1) | EP2123211B1 (en) |
| JP (1) | JP5322714B2 (en) |
| CN (1) | CN101579225B (en) |
| AT (1) | ATE546087T1 (en) |
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| US7669746B2 (en) | 2005-08-31 | 2010-03-02 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20090287055A1 (en) | 2009-11-19 |
| JP5322714B2 (en) | 2013-10-23 |
| CN101579225A (en) | 2009-11-18 |
| US8409079B2 (en) | 2013-04-02 |
| JP2009273877A (en) | 2009-11-26 |
| ATE546087T1 (en) | 2012-03-15 |
| EP2123211B1 (en) | 2012-02-22 |
| EP2123211A1 (en) | 2009-11-25 |
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